mech0ctopus / rrt-global-planner Goto Github PK

Please help me deal with this error.

[100%] Building CXX object rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/src/rrt.cpp.o
In file included from /home/user/catkin_ws/src/rrt-global-planner/include/rrt.hpp:20:0,
from /home/user/catkin_ws/src/rrt-global-planner/src/rrt.cpp:2:
/home/user/catkin_ws/src/rrt-global-planner/include/2d_space.hpp: In function ‘bool inFreeSpace(geometry_msgs::Point, const costmap_2d::Costmap2DROS*, double)’:
/home/user/catkin_ws/src/rrt-global-planner/include/2d_space.hpp:56:38: error: passing ‘const costmap_2d::Costmap2DROS’ as ‘this’ argument discards qualifiers [-fpermissive]
costmap_ = costmap_ros->getCostmap();
^
In file included from /home/user/catkin_ws/src/rrt-global-planner/include/rrt.hpp:10:0,
from /home/user/catkin_ws/src/rrt-global-planner/src/rrt.cpp:2:
/opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:142:14: note: in call to ‘costmap_2d::Costmap2D* costmap_2d::Costmap2DROS::getCostmap()’
Costmap2D* getCostmap()
^~~~
rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/build.make:62: recipe for target 'rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/src/rrt.cpp.o' failed
make[2]: * [rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/src/rrt.cpp.o] Error 1
CMakeFiles/Makefile2:10433: recipe for target 'rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/all' failed
make[1]: * [rrt-global-planner/CMakeFiles/rrt_global_planner_lib.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: * [all] Error 2
Invoking "make -j12 -l12" failed

Hello,

Whenever I utilize the Rviz package within a simulated environment, the robot tends to oscillate along its path and towards the target position. This oscillation hinders the robot's ability to swiftly complete its designated route, as it gets caught in a swinging motion. Presented below is a graphical representation of this phenomenon, showcasing the behavior observed using the amcl_pose data of a turtlebot3.

The RRT parameter are the following, with the move_base planner_frequency set to 0.

goal_tol: 1
K_in: 1000
d: 0.2
viz_tree: true

When i use 2D nav goal, the error is shown below:

[ INFO] [1652184291.226789354, 1.844000000]: odom received!
[ INFO] [1652184295.659753254, 6.218000000]: Generating Global Plan with RRT.
[move_base-8] process has died [pid 2042, exit code -11, cmd /opt/ros/melodic/lib/move_base/move_base cmd_vel:=/cmd_vel odom:=odom __name:=move_base __log:=/home/cheung/.ros/log/62913ce4-d059-11ec-b2be-08002779b3c1/move_base-8.log].
log file: /home/cheung/.ros/log/62913ce4-d059-11ec-b2be-08002779b3c1/move_base-8*.log

Hi, Sir

I have tried your algorithm, and the RRT cannot stop generating random tree even after the branch already achieved the goal. Please see the following video: https://drive.google.com/file/d/1ezmIOBJKtb38whFyYr-cXeROSQR82L0V/view?usp=sharing

I think that RRT supposed to stop generating the random tree and retrieved the path when the branch has reached the goal. Please correct me if I am wrong. Thank you.

Note : robot is confused because the global path keep changing
global planner: RRT
local planner : TEB